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Merge pull request #6688 from mikeller/dont_skip_serial_frames 

Remove skipping of frames after suspension for serial RX.
This commit is contained in:
Michael Keller 2018-09-08 16:37:33 +12:00 committed by GitHub
parent aa9e421068 04379715cb
commit 0c265773dd
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 30 additions and 17 deletions
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8
src/main/fc/config.c
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@ -512,7 +512,7 @@ void validateAndFixGyroConfig(void)
bool readEEPROM(void) bool readEEPROM(void)
{ {
suspendRxSignal(); suspendRxPwmPpmSignal();
// Sanity check, read flash // Sanity check, read flash
bool success = loadEEPROM(); bool success = loadEEPROM();
@ -521,7 +521,7 @@ bool readEEPROM(void)
activateConfig(); activateConfig();
resumeRxSignal(); resumeRxPwmPpmSignal();
return success; return success;
} }
@ -530,11 +530,11 @@ void writeEEPROM(void)
{ {
validateAndFixConfig(); validateAndFixConfig();
suspendRxSignal(); suspendRxPwmPpmSignal();
writeConfigToEEPROM(); writeConfigToEEPROM();
resumeRxSignal(); resumeRxPwmPpmSignal();
} }
void writeEEPROMWithFeatures(uint32_t features) void writeEEPROMWithFeatures(uint32_t features)

23
src/main/rx/rx.c
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@ -295,7 +295,7 @@ void rxInit(void)
#endif #endif
#if defined(USE_PWM) || defined(USE_PPM) #if defined(USE_PWM) || defined(USE_PPM)
if (featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) { if (featureIsEnabled(FEATURE_RX_PPM | FEATURE_RX_PARALLEL_PWM)) {
rxPwmInit(rxConfig(), &rxRuntimeConfig); rxPwmInit(rxConfig(), &rxRuntimeConfig);
} }
#endif #endif
@ -322,18 +322,26 @@ bool rxAreFlightChannelsValid(void)
return rxFlightChannelsValid; return rxFlightChannelsValid;
} }
void suspendRxSignal(void) void suspendRxPwmPpmSignal(void)
{ {
#if defined(USE_PWM) || defined(USE_PPM)
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
suspendRxSignalUntil = micros() + SKIP_RC_ON_SUSPEND_PERIOD; suspendRxSignalUntil = micros() + SKIP_RC_ON_SUSPEND_PERIOD;
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME; skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxSuspend(SKIP_RC_ON_SUSPEND_PERIOD); failsafeOnRxSuspend(SKIP_RC_ON_SUSPEND_PERIOD);
}
#endif
} }
void resumeRxSignal(void) void resumeRxPwmPpmSignal(void)
{ {
#if defined(USE_PWM) || defined(USE_PPM)
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
suspendRxSignalUntil = micros(); suspendRxSignalUntil = micros();
skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME; skipRxSamples = SKIP_RC_SAMPLES_ON_RESUME;
failsafeOnRxResume(); failsafeOnRxResume();
}
#endif
} }
bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime) bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
@ -397,6 +405,7 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
return rxDataProcessingRequired || auxiliaryProcessingRequired; // data driven or 50Hz return rxDataProcessingRequired || auxiliaryProcessingRequired; // data driven or 50Hz
} }
#if defined(USE_PWM) || defined(USE_PPM)
static uint16_t calculateChannelMovingAverage(uint8_t chan, uint16_t sample) static uint16_t calculateChannelMovingAverage(uint8_t chan, uint16_t sample)
{ {
static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT]; static int16_t rcSamples[MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT][PPM_AND_PWM_SAMPLE_COUNT];
@ -422,6 +431,7 @@ static uint16_t calculateChannelMovingAverage(uint8_t chan, uint16_t sample)
} }
return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT; return rcDataMean[chan] / PPM_AND_PWM_SAMPLE_COUNT;
} }
#endif
static uint16_t getRxfailValue(uint8_t channel) static uint16_t getRxfailValue(uint8_t channel)
{ {
@ -510,10 +520,13 @@ static void detectAndApplySignalLossBehaviour(void)
} }
} }
} }
#if defined(USE_PWM) || defined(USE_PPM)
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) { if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM | FEATURE_RX_PPM)) {
// smooth output for PWM and PPM // smooth output for PWM and PPM
rcData[channel] = calculateChannelMovingAverage(channel, sample); rcData[channel] = calculateChannelMovingAverage(channel, sample);
} else { } else
#endif
{
rcData[channel] = sample; rcData[channel] = sample;
} }
} }
@ -544,7 +557,7 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
rxNextUpdateAtUs = currentTimeUs + DELAY_33_HZ; rxNextUpdateAtUs = currentTimeUs + DELAY_33_HZ;
// only proceed when no more samples to skip and suspend period is over // only proceed when no more samples to skip and suspend period is over
if (skipRxSamples) { if (skipRxSamples || currentTimeUs <= suspendRxSignalUntil) {
if (currentTimeUs > suspendRxSignalUntil) { if (currentTimeUs > suspendRxSignalUntil) {
skipRxSamples--; skipRxSamples--;
} }

4
src/main/rx/rx.h
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@ -169,7 +169,7 @@ uint8_t getRssiPercent(void);
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig); void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig);
void suspendRxSignal(void); void suspendRxPwmPpmSignal(void);
void resumeRxSignal(void); void resumeRxPwmPpmSignal(void);
uint16_t rxGetRefreshRate(void); uint16_t rxGetRefreshRate(void);